1. UML-Based Service Robot Software Development Alex Summer March 24, 2008

2. Authors Minseong Kim, Suntae Kim, Sooyong Park Department of Computer Science Sogang University Seoul, REP. of KOREA Mun-Taek Choi, Munsang Kim Center for Intelligent Robotics Frontier 21 Program at Korea Institute of Science and Technology Seoul, REP. of KOREA Hassan Gomaa Dept. of Information and Software Engineering George Mason University Fairfax, VA 22030, USA

3. Topics What is a service robot? What is a service robot? Architecture of a service robot Architecture of a service robot Design methods used during development Design methods used during development Lessons learned -> Conclusion Lessons learned -> Conclusion

4. Public Service Robots (PSR) Perform tasks in a specific environment for working with or assisting humans and must be able to perform services semi or fully automatic Perform tasks in a specific environment for working with or assisting humans and must be able to perform services semi or fully automatic

5. Architecture Must be well-defined Must be well-defined Many-to-many relations among software components as well as hardware components Many-to-many relations among software components as well as hardware components Functional performance of software/hardware modules is highly dependent on the architecture Functional performance of software/hardware modules is highly dependent on the architecture Must support reusable modules Must support reusable modules

6. T-Rot Assisting the elderly Assisting the elderly Over 150 engineers from different organizations participate in the implementation Over 150 engineers from different organizations participate in the implementation Development teams communicate using UML notation Development teams communicate using UML notation Applied the COMET method Applied the COMET method

7. COMET Method Real-time and distributed applications Real-time and distributed applications Integrates object-oriented and concurrent processing concepts Integrates object-oriented and concurrent processing concepts Uses UML notation Uses UML notation 3 phases: Requirements modeling, Analysis modeling, Design modeling 3 phases: Requirements modeling, Analysis modeling, Design modeling

8. Requirements Modeling Analysis Modeling Design Modeling

9. Navigation Use Case Description

10. Conclusion So far, so good. So far, so good. UML aids communication UML aids communication COMET integrates well with UML and guides the incremental process of development COMET integrates well with UML and guides the incremental process of development Potential design issues with task manager Potential design issues with task manager